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<div class="title">single_leg.hpp</div>  </div>
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<a href="single__leg_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifndef SingleLeg_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define SingleLeg_H</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common__header_8hpp.html">blmc_robots/common_header.hpp</a>&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="blmc__joint__module_8hpp.html">blmc_robots/blmc_joint_module.hpp</a>&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="slider_8hpp.html">blmc_robots/slider.hpp</a>&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a>{</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1SingleLeg.html">SingleLeg</a></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;{</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 2, 1&gt; Vector2d;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 2, 1&gt; VectorSlider;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="classblmc__robots_1_1SingleLeg.html#a1b1ef6964010aa2042b042ff3d5d864f">SingleLeg</a>();</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1SingleLeg.html#a28891a4273cdcabc67bfd04dae75e8db">initialize</a>();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1SingleLeg.html#ac68163f459be877af9fb78f348729f9b">send_target_motor_current</a>(</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; target_motor_current);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1SingleLeg.html#a0525a29e9b76527936525ca0e47cafe0">send_target_joint_torque</a>(</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; target_joint_torque);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1SingleLeg.html#a093a696ad34f00e92adcc4eb282a37d9">acquire_sensors</a>();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1SingleLeg.html#a2d95b70a9aca9f7faf503fd5c62f067f">zero_joint_positions</a>();</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1SingleLeg.html#a39c69c6578b42df3d556e8a23c3e1861">disable_can_recv_timeout</a>();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a52324fdf9779bb82141e2056b222b30f">   71</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a52324fdf9779bb82141e2056b222b30f">get_motor_positions</a>()</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> motor_positions_;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#afd9b40fdddedd93e2a92114862846a5e">   80</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#afd9b40fdddedd93e2a92114862846a5e">get_motor_velocities</a>()</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">return</span> motor_velocities_;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a6f9fea8b21a7fb58a95882ec3fe78a8d">   89</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a6f9fea8b21a7fb58a95882ec3fe78a8d">get_motor_currents</a>()</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> motor_currents_;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#aeae6fa29a8a5019d11a7aab9dd443e98">   98</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#aeae6fa29a8a5019d11a7aab9dd443e98">get_motor_target_currents</a>()</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">return</span> motor_target_currents_;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a11751bde3377207e56ded343e00a99f1">  107</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a11751bde3377207e56ded343e00a99f1">get_motor_torques</a>()</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  {</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordflow">return</span> motor_torques_;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a9f3277dbc3bc672e09dbdb51b7818d42">  116</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a9f3277dbc3bc672e09dbdb51b7818d42">get_target_motor_torques</a>()</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">return</span> motor_target_torques_;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a2be0f81bd58416d43614e2c6069ca471">  125</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a2be0f81bd58416d43614e2c6069ca471">get_motor_inertias</a>()</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  {</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">return</span> motor_inertias_;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  }</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#aec4353d090ed7bd503d43b3e17671ded">  134</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#aec4353d090ed7bd503d43b3e17671ded">get_motor_encoder_indexes</a>()</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">return</span> motor_encoder_indexes_;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  }</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a402a4e609e17fb304a113cb5c434b7e3">  143</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a402a4e609e17fb304a113cb5c434b7e3">get_motor_torque_constants</a>()</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">return</span> motor_torque_constants_;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  }</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#ad69364827ba1f041bb45aec9ff678a74">  152</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#ad69364827ba1f041bb45aec9ff678a74">get_joint_positions</a>()</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  {</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">return</span> joint_positions_;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  }</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#aad4d838300a95db9e5e78aa465601591">  161</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#aad4d838300a95db9e5e78aa465601591">get_joint_velocities</a>()</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  {</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">return</span> joint_velocities_;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#adba890cb19a75df119a94d2f3b063ec2">  170</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#adba890cb19a75df119a94d2f3b063ec2">get_joint_torques</a>()</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">return</span> joint_torques_;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  }</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#ab28eb09362cee1b0eaa1a066d5f4d760">  179</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#ab28eb09362cee1b0eaa1a066d5f4d760">get_joint_target_torques</a>()</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">return</span> joint_target_torques_;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  }</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#ac697752c8bd67dc1f58360dbe46e57a6">  188</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#ac697752c8bd67dc1f58360dbe46e57a6">get_joint_gear_ratios</a>()</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  {</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">return</span> joint_gear_ratios_;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  }</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a3048925f67d4585e45200e6de05b73ac">  197</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a3048925f67d4585e45200e6de05b73ac">get_joint_encoder_index</a>()</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  {</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">return</span> joint_encoder_index_;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  }</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a010c3169b55ae8bab809efaa986987a3">  206</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a010c3169b55ae8bab809efaa986987a3">get_zero_positions</a>()</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">return</span> joint_zero_positions_;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  }</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#aa0b97287dcf0195fe918e1b4c0e7b470">  215</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#aa0b97287dcf0195fe918e1b4c0e7b470">get_slider_positions</a>()</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  {</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">return</span> slider_positions_;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  }</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a662082708a0f24a120306e07490a0b70">  225</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#a662082708a0f24a120306e07490a0b70">get_max_current</a>()</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  {</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordflow">return</span> motor_max_current_;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  }</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#ace93cc10397888f07ecf5e14583535f9">  235</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1SingleLeg.html#ace93cc10397888f07ecf5e14583535f9">get_max_joint_torque</a>()</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  {</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordflow">return</span> joint_max_torque_;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  }</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1SingleLeg.html#a54007e95c258ec05b63169f202d3a3a0">  245</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1SingleLeg.html#a54007e95c258ec05b63169f202d3a3a0">set_max_current</a>(<span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; max_current)</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  {</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    motor_max_current_ = max_current;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> i=0 ; i&lt;motors_.size() ; ++i)</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      motors_[i]-&gt;set_max_current(motor_max_current_(i));</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    }</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    joint_max_torque_ = motor_max_current_.array() *</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                        motor_torque_constants_.array() *</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                        joint_gear_ratios_.array();</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  Vector2d motor_positions_;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  Vector2d motor_velocities_;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  Vector2d motor_currents_;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  Vector2d motor_torques_;</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  Vector2d motor_inertias_;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  Vector2d motor_encoder_indexes_;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  Vector2d motor_target_currents_;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  Vector2d motor_target_torques_;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  Vector2d motor_torque_constants_;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  Vector2d target_motor_current_tmp_;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  Vector2d joint_positions_;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  Vector2d joint_velocities_;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  Vector2d joint_torques_;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  Vector2d joint_target_torques_;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  Vector2d joint_gear_ratios_;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  Vector2d joint_encoder_index_;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  Vector2d joint_zero_positions_;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  Vector2d joint_max_torque_;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  Vector2d slider_positions_;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  Vector2d motor_max_current_;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  std::array&lt;CanBus_ptr, 1&gt; can_buses_;</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  std::array&lt;CanBusMotorBoard_ptr, 1&gt; can_motor_boards_;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  std::array&lt;SafeMotor_ptr, 2&gt; motors_;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  std::array&lt;Slider_ptr, 2&gt; sliders_;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;};</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;} <span class="comment">// namespace blmc_robots</span></div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="preprocessor">#endif // SingleLeg_H</span></div><div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a9f3277dbc3bc672e09dbdb51b7818d42"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a9f3277dbc3bc672e09dbdb51b7818d42">blmc_robots::SingleLeg::get_target_motor_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_target_motor_torques()</div><div class="ttdoc">get_target_motor_torques </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:116</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_ac697752c8bd67dc1f58360dbe46e57a6"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#ac697752c8bd67dc1f58360dbe46e57a6">blmc_robots::SingleLeg::get_joint_gear_ratios</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_gear_ratios()</div><div class="ttdoc">get_joint_gear_ratios </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:188</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a54007e95c258ec05b63169f202d3a3a0"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a54007e95c258ec05b63169f202d3a3a0">blmc_robots::SingleLeg::set_max_current</a></div><div class="ttdeci">void set_max_current(const Eigen::Ref&lt; Vector2d &gt; max_current)</div><div class="ttdoc">set_max_current sets the maximum current that the motor can to apply. </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:245</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_aeae6fa29a8a5019d11a7aab9dd443e98"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#aeae6fa29a8a5019d11a7aab9dd443e98">blmc_robots::SingleLeg::get_motor_target_currents</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_target_currents()</div><div class="ttdoc">get_motor_target_currents </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:98</div></div>
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<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_ace93cc10397888f07ecf5e14583535f9"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#ace93cc10397888f07ecf5e14583535f9">blmc_robots::SingleLeg::get_max_joint_torque</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_max_joint_torque()</div><div class="ttdoc">get_max_torque </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:235</div></div>
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<div class="ttc" id="classblmc__robots_1_1SingleLeg_html"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html">blmc_robots::SingleLeg</a></div><div class="ttdef"><b>Definition:</b> single_leg.hpp:20</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a39c69c6578b42df3d556e8a23c3e1861"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a39c69c6578b42df3d556e8a23c3e1861">blmc_robots::SingleLeg::disable_can_recv_timeout</a></div><div class="ttdeci">void disable_can_recv_timeout()</div><div class="ttdoc">disable_can_recv_timeout Disable the disable_can_recv_timeout for all can boards. ...</div><div class="ttdef"><b>Definition:</b> single_leg.cpp:90</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_afd9b40fdddedd93e2a92114862846a5e"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#afd9b40fdddedd93e2a92114862846a5e">blmc_robots::SingleLeg::get_motor_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_velocities()</div><div class="ttdoc">get_motor_velocities </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:80</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a11751bde3377207e56ded343e00a99f1"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a11751bde3377207e56ded343e00a99f1">blmc_robots::SingleLeg::get_motor_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_torques()</div><div class="ttdoc">get_motor_torques </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:107</div></div>
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<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a0525a29e9b76527936525ca0e47cafe0"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a0525a29e9b76527936525ca0e47cafe0">blmc_robots::SingleLeg::send_target_joint_torque</a></div><div class="ttdeci">void send_target_joint_torque(const Eigen::Ref&lt; Vector2d &gt; target_joint_torque)</div><div class="ttdoc">send_target_torques sends the target currents to the motors </div><div class="ttdef"><b>Definition:</b> single_leg.cpp:179</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a6f9fea8b21a7fb58a95882ec3fe78a8d"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a6f9fea8b21a7fb58a95882ec3fe78a8d">blmc_robots::SingleLeg::get_motor_currents</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_currents()</div><div class="ttdoc">get_motor_currents </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:89</div></div>
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<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_aec4353d090ed7bd503d43b3e17671ded"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#aec4353d090ed7bd503d43b3e17671ded">blmc_robots::SingleLeg::get_motor_encoder_indexes</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_encoder_indexes()</div><div class="ttdoc">get_motor_encoder_indexes </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:134</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_aa0b97287dcf0195fe918e1b4c0e7b470"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#aa0b97287dcf0195fe918e1b4c0e7b470">blmc_robots::SingleLeg::get_slider_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_slider_positions()</div><div class="ttdoc">get_slider_positions </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:215</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_aad4d838300a95db9e5e78aa465601591"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#aad4d838300a95db9e5e78aa465601591">blmc_robots::SingleLeg::get_joint_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_velocities()</div><div class="ttdoc">get_joint_velocities </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:161</div></div>
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<div class="ttc" id="common__header_8hpp_html"><div class="ttname"><a href="common__header_8hpp.html">common_header.hpp</a></div><div class="ttdoc">The hardware wrapper of the quadruped. </div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a2d95b70a9aca9f7faf503fd5c62f067f"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a2d95b70a9aca9f7faf503fd5c62f067f">blmc_robots::SingleLeg::zero_joint_positions</a></div><div class="ttdeci">void zero_joint_positions()</div><div class="ttdoc">zero_joint_positions Use the current motor position to set the zero position for the joint angles...</div><div class="ttdef"><b>Definition:</b> single_leg.cpp:99</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_ab28eb09362cee1b0eaa1a066d5f4d760"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#ab28eb09362cee1b0eaa1a066d5f4d760">blmc_robots::SingleLeg::get_joint_target_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_target_torques()</div><div class="ttdoc">get_joint_torques </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:179</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a52324fdf9779bb82141e2056b222b30f"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a52324fdf9779bb82141e2056b222b30f">blmc_robots::SingleLeg::get_motor_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_positions()</div><div class="ttdoc">get_motor_positions </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:71</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a093a696ad34f00e92adcc4eb282a37d9"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a093a696ad34f00e92adcc4eb282a37d9">blmc_robots::SingleLeg::acquire_sensors</a></div><div class="ttdeci">void acquire_sensors()</div><div class="ttdoc">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...</div><div class="ttdef"><b>Definition:</b> single_leg.cpp:108</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a1b1ef6964010aa2042b042ff3d5d864f"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a1b1ef6964010aa2042b042ff3d5d864f">blmc_robots::SingleLeg::SingleLeg</a></div><div class="ttdeci">SingleLeg()</div><div class="ttdoc">SingleLeg is the constructor of the class. </div><div class="ttdef"><b>Definition:</b> single_leg.cpp:6</div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a3048925f67d4585e45200e6de05b73ac"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a3048925f67d4585e45200e6de05b73ac">blmc_robots::SingleLeg::get_joint_encoder_index</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_encoder_index()</div><div class="ttdoc">get_joint_encoder_index </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:197</div></div>
<div class="ttc" id="classblmc__robots_1_1SingleLeg_html_a2be0f81bd58416d43614e2c6069ca471"><div class="ttname"><a href="classblmc__robots_1_1SingleLeg.html#a2be0f81bd58416d43614e2c6069ca471">blmc_robots::SingleLeg::get_motor_inertias</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_inertias()</div><div class="ttdoc">get_motor_inertias </div><div class="ttdef"><b>Definition:</b> single_leg.hpp:125</div></div>
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